ABSTRACT

This project aim to design and implement PID controller in

pressure control trainer, Feedback 38-714.
The controller is easily implemented and relatively easy in tuning.
However, in the other hand, it is unable to reduce load disturbance effect. In
process control system, load disturbance becomes a main problem. PID
control can be
used to overcome the problem. To guarantee closed-loop system
stability while plant parameters changing happen due to load disturbance,
PID control design in this project uses classical method approach.
The objective design is to guarantee closed-loop system stability and
performance
while load disturbance occurs. The controller gained is simulated and
implemented to the real plant Pressure Control Trainer Feedback 38-714.
The simulation result shown that design of closed-loop system has
achieved stability criteria. So, the system
stability can be guaranteed due to plant parameters changing. The
implementation result shown that closed-loop system was able to reach set-
point
while plant parameters changing happen due to load disturbance.
CHAPTER 1

PRELIMINARY

1.1 Background

Low pressure pneumatic control systems have been widely applied

on industrial control system technology.

(Ogata, 1997).

Pneumatic valves are widely used to regulate fluid flow on

various industrial processes. This is because its construction allows for

do a good control action. Pneumatic valves work by regulating

pressure so it can do the action open and close.

Technological developments of process control systems in industry today

towards the application of electro-pneumatic technology, which is component

control

pneumatic through electrical signals. Thus control can be done

electrically with the help of electronic circuit or computer.

Along with the development and advancement of technology, then the

demands

will the performance of the process control system in the industry increasingly

increased too. The expected performance is (Liaw, 1993):

1. The system remains stable in case of changes in plant parameters.

2. After the plant parameters change, the system is able to return to the value

set point quickly.

3. Steady state error during following set point and after change

the load is small

Constraints encountered in achieving the above ideal performance

is the effect of variability and uncertainty on the process model

(Ogunneike, 1994). Changes in flow parameters can be affected by many

factor between them: friction between fluid with pipe or known as

friction losses, leakage on pipe joints or valves as well as properties of

fluid itself. Therefore, a controller design with

good performance, which has the characteristic of stability (robust stability)

and able to eliminate the effect of disturbance (disturbance).

Single loop controller structure, especially PID (proportional integral

derivative), has become the standard of industrial automation. The advantages

of the controller

is easy to implement and relatively easy to tune, but at

the other hand is not able to reduce the effect of interference on the load (load

disturbance) and unable to maintain the desired criteria when

there is a parameter change in the process system.

The cascade control structure is very effective in reducing the interference

effects

which occurs in the process system (Luyben, 1997). In addition, the cascade
control
also has the advantage of improving system response (Shinskey, 1979).

For example in an application, when air supply pressure increases, then

the pressure will result in the control valve opening wider,

so the flow velocity also increases. By using a single controller

loop, it can not be corrected, thus the system will

disturbed by changes in air supply pressure values. By applying

cascade control system, pressure controller of the system will soon find out

an increase in air pressure and will control the valve again

to the setpoint value of the desired airflow rate. Therefore

then the system is less affected by the disruption of the pressure supply

(Luyben, 1997).

Over time, there will be system changes

physically, it also means a change in the plant parameters, the controller

structure

cascade is unable to correct it, so the system is no longer on

design criteria desired. Therefore we need a control system

(robust control), which is a controller that is not sensitive (insensitivity)

against parameter changes, model errors and interruptions (Karray, 2004).

One method to overcome the control system with uncertainty

Plant parameters are robust control H-infinity (Peter, 2006).

1.2 Problem Formulation

In this study, formulated a solution to overcome

problems that have been raised in the background. The formulation

is how to design and implement a robust cascade controller

meet the H-infinity criteria that have a robustness to change

parameters of plant. Thus the constraints that have been put forward on

the background can be corrected.

1.3 Research Objectives

Based on background and problem formulation, there are several goals

which will be achieved in this research, namely:

1. Design and create a series of interfaces for identification purposes

and control.

2. Obtain a mathematical model Pressure Control Trainer Feedback

38-714 through identification

3. Design a cascade controller that meets Robust H-infinity criteria.

4. Implement the controller design results in Pressure Control

Trainer Feedback 38-714

5. Analyzing the robustness of the closed-loop system response to changes

parameters of plant

1.4 Problem Restrictions

The plant is assumed to operate as a pressure supplier, so

when the opening valve is called as the load increases and when the valve
closing is called as a reduced load. In this research the settlement

the problem is limited to the following:

1. The mathematical model of the plant is obtained through identification.

2. The controlled process variable is the air pressure (pressure).

3. Designing a cascade controller using a classical method approach,

so the problem can be solved with SISO system (single input

single output).

4. Robust controller design using H-infinity method.

5. Robustness analysis used in this study refers to

small gain theorem.

1.5 Research Benefits

The benefits and contributions of this research are as follows

following:

1. Develop a control system for Pressure Control Trainer

Feedback 38-714

2. Improving the stability of the pneumatic process control system against

changing plant parameters.

1.6 Systematics Writing

Overall this thesis is organized into five (5) chapters as follows:

1. CHAPTER 1 INTRODUCTION
Covers backgrounds, problems, problem restrictions, goals,

benefits and systematics in writing this thesis.

2. CHAPTER 2 REVIEW OF LITERATURE

Gives a general overview of the underlying theoretical concepts

the design of this thesis, including the theory of process control trainer
Fedback 38-

714, data acquisition, identification, single loop feedback control system

and cascade, as well as robust control theory.

3. CHAPTER 3 RESEARCH METHODS

Explain in detail about plant identification process, modeling

system, system design and controller design.

4. CHAPTER 4 SIMULATION AND ANALYSIS

Simulation and analysis discuss the mechanism of the controller testing

has been designed in Chapter 3. Testing is done with changes

load simulation and proceed with implementation.

5. CHAPTER 5 CONCLUSIONS AND SUGGESTIONS

Describe the conclusions derived from the research and

put forward suggestions for further research.